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EtherCAT Task Introduction

LkTech Motor

Hardware preparation

Connect your motor to any CAN port of your EtherCAT module.

Note that a maximum of 3 motors in the same CAN network is suitable for a 1khz control frequency. If you connect more, please reduce the motor feedback or control frequency.

Note: all motors will be disabled before receiving any command.

Configuration items

  • Control Period
    • This controls the frequency at which control frames are sent to the CAN network. For LkTech Motors, this task will forward control commands at this frequency.
  • CAN
    • The CAN port you connected to.
  • Motor Driver ID (For Single Motor Modes Only)
    • The Driver ID of the motor, can be set by the DIP switch or by the LingKong Motor Tool ( available here).
  • Control Type
    • The control type of motor.
      • Open-loop current (only supported in MS serial motors)
      • Torque (only supported in MF/MH/MG serial motors)
      • Speed With Torque Limit, the unit of control target is 0.01deg/s
      • Multi-Round Position, the unit of control target is 0.01deg
      • Multi-Round Position With Speed Limit, the unit of control target is 0.01deg, the unit of speed limitation is 1deg/s
      • Single-Round Position, the unit of control target is 0.01deg
      • Single-Round Position With Speed Limit, the unit of control target is 0.01deg, the unit of speed limitation is 1deg/s
      • Broadcast Current
        • In this mode, this task will control 4 motors in one CAN packet
        • This mode requires a setting change using LkMotorTool
        • The motor Driver ID can only be 1-4 in this mode

More information about the protocol of LkTech Motor can be found here.

You can change the publisher topic name by inputting a new name in the Motor Feedback Publisher Topic Name input box.

You can change the subscriber topic name by inputting a new name in the Motor Command Subscriber Topic Name input box.

Related ROS2 Message Types

/* Message type: custom_msgs/msg/ReadLkMotor */

std_msgs/Header header

uint8 online    // 0 or 1
uint8 enabled   // 0 or 1

int16 current       // 66/4096 A for MG serial motors, 33/4096 A for MF serial motors, [-1000, 1000] PWR for MS serial motors
int16 speed         // 1deg/s
uint16 encoder
uint8 temperature
/* Message type: custom_msgs/msg/ReadLkMotorMulti */

std_msgs/Header header

uint8 motor1_online     // 0 or 1
int16 motor1_current    // 66/4096 A for MG serial motors, 33/4096 A for MF serial motors, [-1000, 1000] PWR for MS serial motors
int16 motor1_speed      // 1deg/s
uint16 motor1_encoder
uint8 motor1_temperature

uint8 motor2_online
int16 motor2_current
int16 motor2_speed
uint16 motor2_encoder
uint8 motor2_temperature

uint8 motor3_online
int16 motor3_current
int16 motor3_speed
uint16 motor3_encoder
uint8 motor3_temperature

uint8 motor4_online
int16 motor4_current
int16 motor4_speed
uint16 motor4_encoder
uint8 motor4_temperature
/* Message type: custom_msgs/msg/WriteLkMotorOpenloopControl */
/* Only supported in MF/MH/MG serial motors */

uint8 enable    // 0 or 1

int16 torque    // [-850, 850]
/* Message type: custom_msgs/msg/WriteLkMotorTorqueControl */
/* Only supported in MS serial motors */

uint8 enable    // 0 or 1

int16 torque    // [-2048, 2048], mapped to [-16.5A, 16.5A] for MF serial motors, mapped to [-33A, 33A] for MG serial motors
/* Message type: custom_msgs/msg/WriteLkMotorSpeedControlWithTorqueLimit */

uint8 enable        // 0 or 1

int16 torque_limit  // [-2048, 2048], mapped to [-16.5A, 16.5A] for MF serial motors, mapped to [-33A, 33A] for MG serial motors
int32 speed         // 0.01deg/s
/* Message type: custom_msgs/msg/WriteLkMotorMultiRoundPositionControl */

uint8 enable    // 0 or 1

int32 angle     // 0.01deg
/* Message type: custom_msgs/msg/WriteLkMotorMultiRoundPositionControlWithSpeedLimit */

uint8 enable    // 0 or 1

int16 speed_limit   // deg/s
int32 angle         // 0.01deg
/* Message type: custom_msgs/msg/WriteLkMotorSingleRoundPositionControl */

uint8 enable    // 0 or 1

uint8 direction // 0 for clockwise, 1 for counter-clockwise
uint32 angle    // 0.01deg
/* Message type: custom_msgs/msg/WriteLkMotorSingleRoundPositionControlWithSpeedLimit */

uint8 enable    // 0 or 1

uint8 direction     // 0 for clockwise, 1 for counter-clockwise
int16 speed_limit   // deg/s
uint32 angle        // 0.01deg
/* Message type: custom_msgs/msg/WriteLkMotorBroadcastCurrentControl */

int16 motor1_cmd    // [-2000, 2000]
int16 motor2_cmd    // [-2000, 2000]
int16 motor3_cmd    // [-2000, 2000]
int16 motor4_cmd    // [-2000, 2000]